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<div class="title">openni2_device.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Copyright (c) 2013, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *     * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *       notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *     * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *       notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *       documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     * Neither the name of the Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *       contributors may be used to endorse or promote products derived from</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *       this software without specific prior written permission.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN</span></div>
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<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#ifndef PCL_IO_OPENNI2_DEVICE_H_</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define PCL_IO_OPENNI2_DEVICE_H_</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;openni.h&quot;</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;pcl/io/openni2/openni2_video_mode.h&quot;</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;pcl/io/io_exception.h&quot;</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;boost/cstdint.hpp&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;boost/bind.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;boost/function.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">// Template frame wrappers</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/io/image.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/io/image_depth.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/io/image_ir.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>openni</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">class </span>Device;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">class </span>DeviceInfo;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">class </span>VideoStream;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">class </span>SensorInfo;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">namespace </span>openni2</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1io_1_1_depth_image.html">pcl::io::DepthImage</a> DepthImage;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1io_1_1_i_r_image.html">pcl::io::IRImage</a> IRImage;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1io_1_1_image.html">pcl::io::Image</a> Image;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">class </span>OpenNI2FrameListener;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html">   73</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html">OpenNI2Device</a></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;Image&gt;, <span class="keywordtype">void</span>* cookie) &gt; ImageCallbackFunction;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;DepthImage&gt;, <span class="keywordtype">void</span>* cookie) &gt; DepthImageCallbackFunction;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;IRImage&gt;, <span class="keywordtype">void</span>* cookie) &gt; IRImageCallbackFunction;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> CallbackHandle;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          <span class="keyword">typedef</span> boost::function&lt;void(openni::VideoStream&amp; stream)&gt; StreamCallbackFunction;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html">OpenNI2Device</a> (<span class="keyword">const</span> std::string&amp; device_URI);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html">OpenNI2Device</a> ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <span class="keyword">const</span> std::string</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          getUri () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          <span class="keyword">const</span> std::string</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          getVendor () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          <span class="keyword">const</span> std::string</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          getName () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          uint16_t</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          getUsbVendorId () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          uint16_t</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          getUsbProductId () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <span class="keyword">const</span> std::string</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          getStringID () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          isValid () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          hasIRSensor () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          hasColorSensor () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          hasDepthSensor () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          startIRStream ();</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          startColorStream ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          startDepthStream ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          stopAllStreams ();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          stopIRStream ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          stopColorStream ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          stopDepthStream ();</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          isIRStreamStarted ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          isColorStreamStarted ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          isDepthStreamStarted ();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          isImageRegistrationModeSupported () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          setImageRegistrationMode (<span class="keywordtype">bool</span> enabled);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          isDepthRegistered () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          getIRVideoMode ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          getColorVideoMode ();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          getDepthVideoMode ();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          <span class="keyword">const</span> std::vector&lt;OpenNI2VideoMode&gt;&amp;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          getSupportedIRVideoModes () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <span class="keyword">const</span> std::vector&lt;OpenNI2VideoMode&gt;&amp;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          getSupportedColorVideoModes () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keyword">const</span> std::vector&lt;OpenNI2VideoMode&gt;&amp;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          getSupportedDepthVideoModes () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          isIRVideoModeSupported (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; video_mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          isColorVideoModeSupported (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; video_mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          isDepthVideoModeSupported (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; video_mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          findCompatibleIRMode (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; requested_mode, <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; actual_mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          findCompatibleColorMode (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; requested_mode, <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; actual_mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          findCompatibleDepthMode (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; requested_mode, <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; actual_mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          setIRVideoMode (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; video_mode);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          setColorVideoMode (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; video_mode);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          setDepthVideoMode (<span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; video_mode);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          getDefaultIRMode () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          getDefaultColorMode () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          getDefaultDepthMode () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          <span class="keywordtype">float</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          getIRFocalLength () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordtype">float</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          getColorFocalLength () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          <span class="keywordtype">float</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          getDepthFocalLength () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="comment">// Baseline between sensors. Returns 0 if this value does not exist.</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          <span class="keywordtype">float</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          getBaseline();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          <span class="comment">// Value of pixels in shadow or that have no valid measurement</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          uint64_t</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          getShadowValue();</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          setAutoExposure (<span class="keywordtype">bool</span> enable);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          setAutoWhiteBalance (<span class="keywordtype">bool</span> enable);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          isSynchronized ()</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            <span class="keywordflow">return</span> (openni_device_-&gt;getDepthColorSyncEnabled ());</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          isSynchronizationSupported ()</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">true</span>); <span class="comment">// Not sure how to query this from the hardware</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          isFile()</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;            <span class="keywordflow">return</span> (openni_device_-&gt;isFile());</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          setSynchronization (<span class="keywordtype">bool</span> enableSync);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          getAutoExposure () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          getAutoWhiteBalance () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          setUseDeviceTimer (<span class="keywordtype">bool</span> enable);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#ae1df11ae0b66e645ab3502d77ae46dda">  238</a></span>&#160;          <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#ae1df11ae0b66e645ab3502d77ae46dda">getDepthFrameCount</a> ();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a32bc2fe737a8473cfe4cf124224dbaa8">  245</a></span>&#160;          <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a32bc2fe737a8473cfe4cf124224dbaa8">getColorFrameCount</a> ();</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a4042032a47d173b2e43c8c1e71244c36">  252</a></span>&#160;          <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a4042032a47d173b2e43c8c1e71244c36">getIRFrameCount</a> ();</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#ad7a43a816c270d934e6410f434d644cf">  262</a></span>&#160;          <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#ad7a43a816c270d934e6410f434d644cf">setPlaybackSpeed</a> (<span class="keywordtype">double</span> speed);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">          /************************************************************************************/</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          <span class="comment">// Callbacks from openni::VideoStream to grabber. Internal interface</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          setColorCallback (StreamCallbackFunction color_callback);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          setDepthCallback (StreamCallbackFunction depth_callback);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          setIRCallback (StreamCallbackFunction ir_callback);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          <span class="keywordtype">void</span> shutdown ();</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          boost::shared_ptr&lt;openni::VideoStream&gt;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          getIRVideoStream () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          boost::shared_ptr&lt;openni::VideoStream&gt;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          getColorVideoStream () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          boost::shared_ptr&lt;openni::VideoStream&gt;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          getDepthVideoStream () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          processColorFrame (openni::VideoStream&amp; stream);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;          processDepthFrame (openni::VideoStream&amp; stream);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          processIRFrame (openni::VideoStream&amp; stream);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;          findCompatibleVideoMode (<span class="keyword">const</span> std::vector&lt;OpenNI2VideoMode&gt; supportedModes,</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;            <span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; output_mode, <a class="code" href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">OpenNI2VideoMode</a>&amp; mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;          resizingSupported (<span class="keywordtype">size_t</span> input_width, <span class="keywordtype">size_t</span> input_height, <span class="keywordtype">size_t</span> output_width, <span class="keywordtype">size_t</span> output_height) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          <span class="comment">// Members</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          boost::shared_ptr&lt;openni::Device&gt; openni_device_;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          boost::shared_ptr&lt;openni::DeviceInfo&gt; device_info_;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          boost::shared_ptr&lt;OpenNI2FrameListener&gt; ir_frame_listener;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          boost::shared_ptr&lt;OpenNI2FrameListener&gt; color_frame_listener;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          boost::shared_ptr&lt;OpenNI2FrameListener&gt; depth_frame_listener;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          <span class="keyword">mutable</span> boost::shared_ptr&lt;openni::VideoStream&gt; ir_video_stream_;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;          <span class="keyword">mutable</span> boost::shared_ptr&lt;openni::VideoStream&gt; color_video_stream_;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          <span class="keyword">mutable</span> boost::shared_ptr&lt;openni::VideoStream&gt; depth_video_stream_;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          <span class="keyword">mutable</span> std::vector&lt;OpenNI2VideoMode&gt; ir_video_modes_;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          <span class="keyword">mutable</span> std::vector&lt;OpenNI2VideoMode&gt; color_video_modes_;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          <span class="keyword">mutable</span> std::vector&lt;OpenNI2VideoMode&gt; depth_video_modes_;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <span class="keywordtype">bool</span> ir_video_started_;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;          <span class="keywordtype">bool</span> color_video_started_;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          <span class="keywordtype">bool</span> depth_video_started_;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a0de7de9e224b231dbdaa20c91b756b7f">  321</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a0de7de9e224b231dbdaa20c91b756b7f">baseline_</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#abc322fc119424b85de233e86611f594c">  323</a></span>&#160;          uint64_t <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#abc322fc119424b85de233e86611f594c">shadow_value_</a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#abefea8de6e312b1d99972e1ec0be26ca">  325</a></span>&#160;          uint64_t <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#abefea8de6e312b1d99972e1ec0be26ca">no_sample_value_</a>;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      };</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      PCL_EXPORTS std::ostream&amp; operator&lt;&lt; (std::ostream&amp; stream, <span class="keyword">const</span> <a class="code" href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html">OpenNI2Device</a>&amp; device);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    } <span class="comment">// namespace</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;}</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_IO_OPENNI2_DEVICE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html">pcl::io::DepthImage</a></div><div class="ttdoc">This class provides methods to fill a depth or disparity image.</div><div class="ttdef"><b>Definition:</b> image_depth.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_i_r_image_html"><div class="ttname"><a href="classpcl_1_1io_1_1_i_r_image.html">pcl::io::IRImage</a></div><div class="ttdoc">Class containing just a reference to IR meta data.</div><div class="ttdef"><b>Definition:</b> image_ir.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html">pcl::io::Image</a></div><div class="ttdoc">Image interface class providing an interface to fill a RGB or Grayscale image buffer.</div><div class="ttdef"><b>Definition:</b> image.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html">pcl::io::openni2::OpenNI2Device</a></div><div class="ttdef"><b>Definition:</b> openni2_device.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html_a0de7de9e224b231dbdaa20c91b756b7f"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a0de7de9e224b231dbdaa20c91b756b7f">pcl::io::openni2::OpenNI2Device::baseline_</a></div><div class="ttdeci">float baseline_</div><div class="ttdoc">distance between the projector and the IR camera in meters</div><div class="ttdef"><b>Definition:</b> openni2_device.h:321</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html_a32bc2fe737a8473cfe4cf124224dbaa8"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a32bc2fe737a8473cfe4cf124224dbaa8">pcl::io::openni2::OpenNI2Device::getColorFrameCount</a></div><div class="ttdeci">int getColorFrameCount()</div><div class="ttdoc">Get absolut number of color frames in the current stream. This function returns 0 if the current devi...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html_a4042032a47d173b2e43c8c1e71244c36"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#a4042032a47d173b2e43c8c1e71244c36">pcl::io::openni2::OpenNI2Device::getIRFrameCount</a></div><div class="ttdeci">int getIRFrameCount()</div><div class="ttdoc">Get absolut number of ir frames in the current stream. This function returns 0 if the current device ...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html_abc322fc119424b85de233e86611f594c"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#abc322fc119424b85de233e86611f594c">pcl::io::openni2::OpenNI2Device::shadow_value_</a></div><div class="ttdeci">uint64_t shadow_value_</div><div class="ttdef"><b>Definition:</b> openni2_device.h:323</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html_abefea8de6e312b1d99972e1ec0be26ca"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#abefea8de6e312b1d99972e1ec0be26ca">pcl::io::openni2::OpenNI2Device::no_sample_value_</a></div><div class="ttdeci">uint64_t no_sample_value_</div><div class="ttdef"><b>Definition:</b> openni2_device.h:325</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html_ad7a43a816c270d934e6410f434d644cf"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#ad7a43a816c270d934e6410f434d644cf">pcl::io::openni2::OpenNI2Device::setPlaybackSpeed</a></div><div class="ttdeci">bool setPlaybackSpeed(double speed)</div><div class="ttdoc">Set the playback speed if the device is an recorded stream. If setting the device playback speed fail...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1openni2_1_1_open_n_i2_device_html_ae1df11ae0b66e645ab3502d77ae46dda"><div class="ttname"><a href="classpcl_1_1io_1_1openni2_1_1_open_n_i2_device.html#ae1df11ae0b66e645ab3502d77ae46dda">pcl::io::openni2::OpenNI2Device::getDepthFrameCount</a></div><div class="ttdeci">int getDepthFrameCount()</div><div class="ttdoc">Get absolut number of depth frames in the current stream. This function returns 0 if the current devi...</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode_html"><div class="ttname"><a href="structpcl_1_1io_1_1openni2_1_1_open_n_i2_video_mode.html">pcl::io::openni2::OpenNI2VideoMode</a></div><div class="ttdef"><b>Definition:</b> openni2_video_mode.h:65</div></div>
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